esp-fc

#pragma once

#include <cstdint>

#include "Utils/Timer.h"

namespace Espfc {

enum StatCounter
{
  COUNTER_GYRO_READ,
  COUNTER_GYRO_FILTER,
  COUNTER_GYRO_FFT,
  COUNTER_RPM_UPDATE,
  COUNTER_ACCEL_READ,
  COUNTER_ACCEL_FILTER,
  COUNTER_MAG_READ,
  COUNTER_MAG_FILTER,
  COUNTER_BARO,
  COUNTER_IMU_FUSION,
  COUNTER_IMU_FUSION2,
  COUNTER_OUTER_PID,
  COUNTER_INNER_PID,
  COUNTER_MIXER,
  COUNTER_MIXER_WRITE,
  COUNTER_MIXER_READ,
  COUNTER_BLACKBOX,
  COUNTER_INPUT_READ,
  COUNTER_INPUT_FILTER,
  COUNTER_FAILSAFE,
  COUNTER_ACTUATOR,
  COUNTER_TELEMETRY,
  COUNTER_SERIAL,
  COUNTER_WIFI,
  COUNTER_BATTERY,
  COUNTER_GPS_READ,
  COUNTER_CPU_0,
  COUNTER_CPU_1,
  COUNTER_COUNT
};

namespace Utils {

class Stats
{
public:
  class Measure
  {
  public:
    inline Measure(Stats& stats, StatCounter counter): _stats(stats), _counter(counter)
    {
      _stats.start(_counter);
    }
    inline ~Measure()
    {
      _stats.end(_counter);
    }

  private:
    Stats& _stats;
    StatCounter _counter;
  };

  Stats();

  void start(StatCounter c);
  void end(StatCounter c);

  void update();

  void loopTick();
  uint32_t loopTime() const;
  float getLoad(StatCounter c) const;

  /**
   * @brief Get the Time of counter normalized to 1 ms
   */
  float getTime(StatCounter c) const;
  float getReal(StatCounter c) const;
  float getFreq(StatCounter c) const;
  float getTotalLoad() const;
  float getTotalTime() const;
  float getCpuLoad() const;
  float getCpuTime() const;
  const char* getName(StatCounter c) const;

  Utils::Timer timer;

private:
  uint32_t _start[COUNTER_COUNT];
  uint32_t _sum[COUNTER_COUNT];
  uint32_t _count[COUNTER_COUNT];
  float _avg[COUNTER_COUNT];
  float _freq[COUNTER_COUNT];
  float _real[COUNTER_COUNT];
  uint32_t _loop_last;
  int32_t _loop_time;
};

} // namespace Utils

} // namespace Espfc